Rename to husarion_ugv

.github/workflows/release-project.yaml

@@ -1,5 +1,5 @@
 ---
-name: Release Panther project
+name: Release project
 
 on:
   workflow_dispatch:

.github/workflows/run-unit-tests.yaml

@@ -1,5 +1,5 @@
 ---
-name: Run panther unit tests
+name: Run unit tests
 
 on:
   workflow_dispatch:
@@ -28,12 +28,12 @@ jobs:
         uses: actions/checkout@v3
         with:
           ref: ${{ github.ref }}
-          path: ros2_ws/src/panther_ros
+          path: ros2_ws/src/husarion_ugv
 
       - name: Resolve dependencies
         working-directory: ros2_ws
         run: |
-          vcs import < src/panther_ros/panther/panther_hardware.repos src
+          vcs import < src/husarion_ugv/husarion_ugv/hardware_deps.repos src
           sudo apt update
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
@@ -43,15 +43,15 @@ jobs:
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
           if [ -f install/setup.bash ]; then source install/setup.bash; fi
-          colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to panther --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'
+          colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to husarion_ugv --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'
 
       - name: Test
         working-directory: ros2_ws
         run: |
           source install/setup.bash
-          colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
+          colcon test --packages-up-to husarion_ugv --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
           echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
-          colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
+          colcon lcov-result --packages-up-to husarion_ugv --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
           lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1)
           functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'functions' | head -1)
           branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'branches' | head -1)

.pre-commit-config.yaml

@@ -47,7 +47,7 @@ repos:
         entry: codespell
         args:
           [
-            "--exclude-file=panther_hardware_interfaces/config/roboteq_motor_controllers_v80_21a.eds",
+            "--exclude-file=husarion_ugv_hardware_interfaces/config/roboteq_motor_controllers_v80_21a.eds",
             "--ignore-words-list",
             "ned" # north, east, down (NED)
           ]

panther/CMakeLists.txt → husarion_ugv/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(panther)
+project(husarion_ugv)
 
 find_package(ament_cmake REQUIRED)
 

husarion_ugv/README.md

@@ -0,0 +1,3 @@
+# husarion_ugv
+
+ROS 2 Metapackage composing basic functionalities of the Husarion UGV robot with VCS Tool yaml files directing to external robot dependencies.

panther/package.xml → husarion_ugv/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>panther</name>
+  <name>husarion_ugv</name>
   <version>2.1.1</version>
-  <description>Meta package that contains all packages of Panther</description>
+  <description>Meta package that contains all packages of Husarion UGV (Unmanned Ground Vehicle)</description>
   <maintainer email="support@husarion.com">Husarion</maintainer>
   <license>Apache License 2.0</license>
 
@@ -15,8 +15,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>panther_bringup</depend>
-  <depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">panther_gazebo</depend>
+  <depend>husarion_ugv_bringup</depend>
+  <depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_gazebo</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

panther_battery/CMakeLists.txt → husarion_ugv_battery/CMakeLists.txt

@@ -1,18 +1,18 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(panther_battery)
+project(husarion_ugv_battery)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 set(PACKAGE_DEPENDENCIES ament_cmake diagnostic_updater panther_msgs
-                         panther_utils rclcpp sensor_msgs)
+                         husarion_ugv_utils rclcpp sensor_msgs)
 
 foreach(PACKAGE IN ITEMS ${PACKAGE_DEPENDENCIES})
   find_package(${PACKAGE} REQUIRED)
 endforeach()
 
-include_directories(include ${panther_utils_INCLUDE_DIRS})
+include_directories(include ${husarion_ugv_utils_INCLUDE_DIRS})
 
 add_executable(
   battery_driver_node

panther_battery/README.md → husarion_ugv_battery/README.md

@@ -1,6 +1,6 @@
-# panther_battery
+# husarion_ugv_battery
 
-The package containing nodes monitoring and publishing the internal battery state of the Husarion Panther robot.
+The package containing nodes monitoring and publishing the internal battery state of the Husarion UGV robots.
 
 ## Launch Files
 
@@ -12,13 +12,13 @@ This package contains:
 
 ### battery_driver_node
 
-Publishes battery state read from ADC unit for Panther version 1.2 and above, or based on Roboteq motor controllers' data for earlier.versions of the robot.
+Publishes battery state read from ADC unit.
 
 #### Publishes
 
 - `_battery/battery_1_status_raw` [*sensor_msgs/BatteryState*]: First battery raw state.
 - `_battery/battery_2_status_raw` [*sensor_msgs/BatteryState*]: Second battery raw state. Published if second battery detected.
-- `battery/battery_status` [*sensor_msgs/BatteryState*]: Mean values of both batteries if Panther has two batteries. Otherwise, the state of the single battery will be published.
+- `battery/battery_status` [*sensor_msgs/BatteryState*]: Mean values of both batteries if robot has two batteries. Otherwise, the state of the single battery will be published.
 - `battery/charging_status` [*panther_msgs/ChargingStatus*]: Battery charging status.
 - `diagnostics` [*diagnostic_msgs/DiagnosticArray*]: Battery diagnostic messages.
 
@@ -29,11 +29,11 @@ Publishes battery state read from ADC unit for Panther version 1.2 and above, or
 
 #### Parameters
 
-- `~/adc/device0` [*string*, default: **/sys/bus/iio/devices/iio:device0**]: ADC nr 0 IIO device. Used with Panther version 1.2 and above.
-- `~/adc/device1` [*string*, default: **/sys/bus/iio/devices/iio:device1**]: ADC nr 1 IIO device. Used with Panther version 1.2 and above.
-- `~/adc/ma_window_len/charge` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery charge readings. Used with Panther version 1.2 and above.
-- `~/adc/ma_window_len/temp` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery temperature readings. Used with Panther version 1.2 and above.
+- `~/adc/device0` [*string*, default: **/sys/bus/iio/devices/iio:device0**]: ADC number 0 IIO device.
+- `~/adc/device1` [*string*, default: **/sys/bus/iio/devices/iio:device1**]: ADC number 1 IIO device.
+- `~/adc/ma_window_len/charge` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery charge readings.
+- `~/adc/ma_window_len/temp` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery temperature readings.
 - `~/battery_timeout` [*float*, default: **1.0**]: Specifies the timeout in seconds. If the node fails to read battery data exceeding this duration, the node will publish an unknown battery state.
 - `~/ma_window_len/voltage` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery voltage readings.
 - `~/ma_window_len/current` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery current readings.
-- `~/roboteq/driver_state_timeout` [*float*, default: **0.2**]: Specifies timeout in seconds after which driver state messages will be considered old. Used with Panther version 1.06 and earlier.
+- `~/roboteq/driver_state_timeout` [*float*, default: **0.2**]: Specifies timeout in seconds after which driver state messages will be considered old (deprecated).

panther_battery/include/panther_battery/adc_data_reader.hpp → husarion_ugv_battery/include/husarion_ugv_battery/adc_data_reader.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_ADC_DATA_READER_HPP_
-#define PANTHER_BATTERY_ADC_DATA_READER_HPP_
+#ifndef HUSARION_UGV_BATTERY_ADC_DATA_READER_HPP_
+#define HUSARION_UGV_BATTERY_ADC_DATA_READER_HPP_
 
 #include <filesystem>
 #include <fstream>
 #include <stdexcept>
 #include <string>
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 class ADCDataReader
@@ -75,6 +75,6 @@ class ADCDataReader
   const std::filesystem::path device_path_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_ADC_DATA_READER_HPP_
+#endif  // HUSARION_UGV_BATTERY_ADC_DATA_READER_HPP_

panther_battery/include/panther_battery/battery/adc_battery.hpp → husarion_ugv_battery/include/husarion_ugv_battery/battery/adc_battery.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_BATTERY_ADC_BATTERY_HPP_
-#define PANTHER_BATTERY_BATTERY_ADC_BATTERY_HPP_
+#ifndef HUSARION_UGV_BATTERY_BATTERY_ADC_BATTERY_HPP_
+#define HUSARION_UGV_BATTERY_BATTERY_ADC_BATTERY_HPP_
 
 #include <cstdint>
 #include <functional>
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "panther_battery/battery/battery.hpp"
-#include "panther_utils/moving_average.hpp"
+#include "husarion_ugv_battery/battery/battery.hpp"
+#include "husarion_ugv_utils/moving_average.hpp"
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 using BatteryStateMsg = sensor_msgs::msg::BatteryState;
@@ -89,12 +89,12 @@ class ADCBattery : public Battery
   const std::function<float()> ReadTemp;
   const std::function<float()> ReadCharge;
 
-  std::unique_ptr<panther_utils::MovingAverage<float>> voltage_ma_;
-  std::unique_ptr<panther_utils::MovingAverage<float>> current_ma_;
-  std::unique_ptr<panther_utils::MovingAverage<float>> temp_ma_;
-  std::unique_ptr<panther_utils::MovingAverage<float>> charge_ma_;
+  std::unique_ptr<husarion_ugv_utils::MovingAverage<float>> voltage_ma_;
+  std::unique_ptr<husarion_ugv_utils::MovingAverage<float>> current_ma_;
+  std::unique_ptr<husarion_ugv_utils::MovingAverage<float>> temp_ma_;
+  std::unique_ptr<husarion_ugv_utils::MovingAverage<float>> charge_ma_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_BATTERY_ADC_BATTERY_HPP_
+#endif  // HUSARION_UGV_BATTERY_BATTERY_ADC_BATTERY_HPP_

panther_battery/include/panther_battery/battery/battery.hpp → husarion_ugv_battery/include/husarion_ugv_battery/battery/battery.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_BATTERY_BATTERY_HPP_
-#define PANTHER_BATTERY_BATTERY_BATTERY_HPP_
+#ifndef HUSARION_UGV_BATTERY_BATTERY_BATTERY_HPP_
+#define HUSARION_UGV_BATTERY_BATTERY_BATTERY_HPP_
 
 #include <algorithm>
 #include <limits>
@@ -27,7 +27,7 @@
 
 #include "panther_msgs/msg/charging_status.hpp"
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 using BatteryStateMsg = sensor_msgs::msg::BatteryState;
@@ -127,6 +127,6 @@ class Battery
   ChargingStatusMsg charging_status_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_BATTERY_BATTERY_HPP_
+#endif  // HUSARION_UGV_BATTERY_BATTERY_BATTERY_HPP_

panther_battery/include/panther_battery/battery/roboteq_battery.hpp → husarion_ugv_battery/include/husarion_ugv_battery/battery/roboteq_battery.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_BATTERY_ROBOTEQ_BATTERY_HPP_
-#define PANTHER_BATTERY_BATTERY_ROBOTEQ_BATTERY_HPP_
+#ifndef HUSARION_UGV_BATTERY_BATTERY_ROBOTEQ_BATTERY_HPP_
+#define HUSARION_UGV_BATTERY_BATTERY_ROBOTEQ_BATTERY_HPP_
 
 #include <cstdint>
 #include <functional>
@@ -24,10 +24,10 @@
 #include "panther_msgs/msg/driver_state_named.hpp"
 #include "panther_msgs/msg/robot_driver_state.hpp"
 
-#include "panther_battery/battery/battery.hpp"
-#include "panther_utils/moving_average.hpp"
+#include "husarion_ugv_battery/battery/battery.hpp"
+#include "husarion_ugv_utils/moving_average.hpp"
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 using RobotDriverStateMsg = panther_msgs::msg::RobotDriverState;
@@ -73,10 +73,10 @@ class RoboteqBattery : public Battery
   float current_raw_;
   RobotDriverStateMsg::SharedPtr driver_state_;
 
-  std::unique_ptr<panther_utils::MovingAverage<float>> voltage_ma_;
-  std::unique_ptr<panther_utils::MovingAverage<float>> current_ma_;
+  std::unique_ptr<husarion_ugv_utils::MovingAverage<float>> voltage_ma_;
+  std::unique_ptr<husarion_ugv_utils::MovingAverage<float>> current_ma_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_BATTERY_ROBOTEQ_BATTERY_HPP_
+#endif  // HUSARION_UGV_BATTERY_BATTERY_ROBOTEQ_BATTERY_HPP_

panther_battery/include/panther_battery/battery_driver_node.hpp → husarion_ugv_battery/include/husarion_ugv_battery/battery_driver_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_BATTERY_DRIVER_NODE_HPP_
-#define PANTHER_BATTERY_BATTERY_DRIVER_NODE_HPP_
+#ifndef HUSARION_UGV_BATTERY_BATTERY_DRIVER_NODE_HPP_
+#define HUSARION_UGV_BATTERY_BATTERY_DRIVER_NODE_HPP_
 
 #include <memory>
 #include <string>
@@ -23,11 +23,11 @@
 
 #include "panther_msgs/msg/robot_driver_state.hpp"
 
-#include "panther_battery/adc_data_reader.hpp"
-#include "panther_battery/battery/battery.hpp"
-#include "panther_battery/battery_publisher/battery_publisher.hpp"
+#include "husarion_ugv_battery/adc_data_reader.hpp"
+#include "husarion_ugv_battery/battery/battery.hpp"
+#include "husarion_ugv_battery/battery_publisher/battery_publisher.hpp"
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 using RobotDriverStateMsg = panther_msgs::msg::RobotDriverState;
@@ -60,6 +60,6 @@ class BatteryDriverNode : public rclcpp::Node
   std::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_BATTERY_DRIVER_NODE_HPP_
+#endif  // HUSARION_UGV_BATTERY_BATTERY_DRIVER_NODE_HPP_

panther_battery/include/panther_battery/battery_publisher/battery_publisher.hpp → husarion_ugv_battery/include/husarion_ugv_battery/battery_publisher/battery_publisher.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_BATTERY_PUBLISHER_BATTERY_PUBLISHER_HPP_
-#define PANTHER_BATTERY_BATTERY_PUBLISHER_BATTERY_PUBLISHER_HPP_
+#ifndef HUSARION_UGV_BATTERY_BATTERY_PUBLISHER_BATTERY_PUBLISHER_HPP_
+#define HUSARION_UGV_BATTERY_BATTERY_PUBLISHER_BATTERY_PUBLISHER_HPP_
 
 #include <memory>
 
@@ -25,7 +25,7 @@
 #include "panther_msgs/msg/charging_status.hpp"
 #include "panther_msgs/msg/io_state.hpp"
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 using BatteryStateMsg = sensor_msgs::msg::BatteryState;
@@ -71,6 +71,6 @@ class BatteryPublisher
   rclcpp::Subscription<IOStateMsg>::SharedPtr io_state_sub_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_BATTERY_PUBLISHER_BATTERY_PUBLISHER_HPP_
+#endif  // HUSARION_UGV_BATTERY_BATTERY_PUBLISHER_BATTERY_PUBLISHER_HPP_

panther_battery/include/panther_battery/battery_publisher/dual_battery_publisher.hpp → husarion_ugv_battery/include/husarion_ugv_battery/battery_publisher/dual_battery_publisher.hpp

@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_BATTERY_BATTERY_PUBLISHER_DUAL_BATTERY_PUBLISHER_HPP_
-#define PANTHER_BATTERY_BATTERY_PUBLISHER_DUAL_BATTERY_PUBLISHER_HPP_
+#ifndef HUSARION_UGV_BATTERY_BATTERY_PUBLISHER_DUAL_BATTERY_PUBLISHER_HPP_
+#define HUSARION_UGV_BATTERY_BATTERY_PUBLISHER_DUAL_BATTERY_PUBLISHER_HPP_
 
 #include <cstdint>
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "panther_battery/battery/battery.hpp"
-#include "panther_battery/battery_publisher/battery_publisher.hpp"
+#include "husarion_ugv_battery/battery/battery.hpp"
+#include "husarion_ugv_battery/battery_publisher/battery_publisher.hpp"
 
-namespace panther_battery
+namespace husarion_ugv_battery
 {
 
 class DualBatteryPublisher : public BatteryPublisher
@@ -66,6 +66,6 @@ class DualBatteryPublisher : public BatteryPublisher
   rclcpp::Publisher<ChargingStatusMsg>::SharedPtr charging_status_pub_;
 };
 
-}  // namespace panther_battery
+}  // namespace husarion_ugv_battery
 
-#endif  // PANTHER_BATTERY_BATTERY_PUBLISHER_DUAL_BATTERY_PUBLISHER_HPP_
+#endif  // HUSARION_UGV_BATTERY_BATTERY_PUBLISHER_DUAL_BATTERY_PUBLISHER_HPP_